Unlock instant, AI-driven research and patent intelligence for your innovation.

A flexible underactuated finger based on fin-ray structure

An underactuated, finger technology, applied in the field of manipulators, which can solve the problems of difficult-to-grip size and insufficient rigidity

Active Publication Date: 2020-10-13
广州富唯智能科技有限公司
View PDF3 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this kind of flexible hand is difficult to grasp large and heavy objects due to insufficient rigidity.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A flexible underactuated finger based on fin-ray structure
  • A flexible underactuated finger based on fin-ray structure
  • A flexible underactuated finger based on fin-ray structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0021] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0022] In describing the present invention, it should be understood that the directional terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer" etc. indicate an orientation or The positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the structure of the present invention and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation , therefore, should not be construed as a limitation of the present invention.

[0023] A specific embodiment of the present invention provides a flexible underactuated finger based on a fin-ray structure, referring to Figure 1 to Figure 3 , the underactuated finger includes a f...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a flexible underactuation finger based on a fin ray type structure. The finger comprises a finger rack, a parallel transmission chain, a self-adaptation transmission chain, a drive component, a rigid knuckle and a flexible fin ray knuckle; the fin ray knuckle is a tail end knuckle of the finger, and the parallel transmission chain, the self-adaptation transmission chain andthe drive component are arranged on the finger rack, the rigid knuckle is in movable connection with the parallel transmission chain and the self-adaptation transmission chain at the same time, the efin ray knuckle is connected with the rigid knuckle through the self-adaptation transmission chain, the self-adaptation transmission chain is connected to the drive component, and is driven by the drive component to move so as to drive the parallel transmission chain to move and promote the rigid knuckle and the fin ray knuckle to generate adaptation motion, and meanwhile, the fin ray knuckle generates the adaptive deforming under the effect of the self-adaptation transmission chain.

Description

technical field [0001] The invention relates to the field of robot manipulators, in particular to a flexible underactuated finger based on a fin-ray structure. Background technique [0002] The research on robotic grippers has a history of decades. In order to meet the different needs of industry, medicine and service industries, there are many types of robotic grippers. Among them, underactuated grippers have become an important research direction in robotic grippers because they can adaptively grasp objects of different shapes, and at the same time, have simple control and stable and reliable grasping. [0003] At present, there are two main transmission modes of underactuated hands: tendon-rope transmission and link transmission. The tendon-rope transmission underactuated hand is usually designed to be light and handy, and has a high degree of anthropomorphism, such as the patent document whose publication number is CN 107097246 A. Although the connecting rod type trans...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/08
CPCB25J15/08
Inventor 赵铖曾龙罗博陈敏鹤
Owner 广州富唯智能科技有限公司